基于道路友好性的重载汽车悬架半主动控制研究∗

摘要

车辆的平顺性和道路友好性是反应车辆悬架性能的2个重要指标.为改善重载汽车在道路行驶中的友好性，基于7自由度重载汽车动力学模型，建立了半主动悬架系统的运动方程，设计了半主动悬架最优控制器，考虑路面不平度的随机激励，以车辆平顺性和道路友好性为控制目标，提出了车辆悬架的最优半主动控制策略，并且给出了详尽的推导过程.仿真分析结果表明：当汽车以20 m/s的速度行驶在 C 级路面时，车身和驾驶室垂向加速度有效均方根值分别减少了3．42％和46．4％，轮胎对路面的破坏减少了2．10％；半主动控制悬架有效地保证了车辆行驶的平顺性，同时可减小车辆对路面的冲击作用，改善了车辆的悬架性能.%The ride comfort and road friendliness are 2 important indicators that reflect the vehicle suspension performance. In order to improve the road friendliness of heavy-duty vehicles,based on a heavy-duty vehicle dynamics model with seven degrees of freedom,this paper builds a kinematic equations of semi-active suspension system and designs a semi-active optimal suspension controller.Aiming at the ride comfort and road friendliness of vehicles,an optimal semi-active control method for vehicle suspen-sion is put forward by taking the road surface roughness into consideration.A detailed mathematical formulation is also provided. The simulation results show that when running at the speed of 20 m/s on a road with a surface of the C level,the effective root mean square of vertical acceleration of the vehicle body reduces by 3.42% and of the driver's cabinet reduces by 46.4%;tire dam-age on the road decreases by 2.10%.The semi-active suspension control can effectively maintain the ride comfort,while reduce the dynamical force of vehicles against the road surface.Compared with the traditional suspension of passive control suspension,it can improve the suspension performance.